Manual, Tool Changer, QC‑113
Document #9620‑20‑B‑113 Base Tool Changer‑05
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 •
www.ati‑ia.com
B-16
6.
A sufficient delay must be programmed between locking valve actuation and robot motion so that the
locking process is complete before moving the robot. If equipped with Lock and Unlock sensors, the
Lock signal should read “ON” (true) and the Unlock signal should read “OFF” (false).
NOTICE:
If the locking mechanism has been actuated and both the Lock and Unlock signals are
OFF, then a “missed tool” condition has occurred (for example, the Tool is not in the stand or is
not positioned properly).
In this case an error should be generated and the robot program
halted.
The situation requires manual inspection to determine the cause of the problem. Some
configurations will require a manual unlock of the Master plate before attempting coupling, refer
to the Control/Signal Module Manual for instructions.
NOTICE:
The locking mechanism must be in the unlock state before another attempt is made to
couple or damage could occur to the robot and/or the Tool Changer.
3.2 Fail-Safe Operation
A fail-safe condition occurs when there is an unintended loss of lock air pressure to the Master plate. When
air pressure is lost, the Tool Changer relaxes and there may be a slight separation between the Master
and Tool plates. The lock sensor may indicate that the unit is not locked. ATI’s patented fail‑safe feature
utilizes a multi-tapered cam to trap the ball bearings and prevent an unintended release of the Tool plate.
Positional accuracy of the tooling is not maintained during this fail-safe condition. Do not operate the
Tool Changer in the fail-safe condition. If source air is lost to the unit, movement should be halted until air
pressure is restored.
After air pressure is re-established to the Master plate, the locking mechanism will energize and securely
lock the Master and Tool plates together. In some cases when the load on the tool changer is significantly
off center, it may be necessary to position the load underneath the tool changer or return the tool to the tool
storage location to ensure a secure lock condition. If equipped, make sure the lock sensor indicates the Tool
Changer is in the locked position before resuming normal operations. Consult your Control/Signal Module
Manual for specific error recovery information.
CAUTION:
Do not use the Tool Changer in a fail-safe condition. Damage to the locking
mechanism could occur. Re-establish air pressure and ensure the Tool Changer is in a
secure lock position before returning to normal operations.